I saw that message a few years back on a 3G or 3GS when plugged into a JBL desktop speaker/charging dock .
Generally , any of the usb chargers I use in the car - branded ones like Belkin Tunecast or Griffin iTrip , unbranded ones from Tesco , Aldi or Lidl all have been fine .
I've still to get a Bury take & talk cradle for my iPhone 5 to fit the handsfree system in the 190 , but the 4S one I have works fine .
Since many of the branded accessories are approved and sold by Apple , I'd be surprised if they didn't work - anyway , the manufacturers will soon catch up and work around it .